Robot::Globals Namespace Reference

Functions
pros::Controller	controller (pros::E_CONTROLLER_MASTER)
pros::Controller	partner (pros::E_CONTROLLER_PARTNER)
pros::Motor	RightFront (16, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	LeftFront (-13, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	LeftBack (-11, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	RightBack (14, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	LeftMid (12, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	RightMid (-15, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	IntakeMotor (-4, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	HookMotor (3, pros::v5::MotorGears::green, pros::v5::MotorUnits::degrees)
pros::Motor	LadyBrownMotor (-10, pros::v5::MotorGears::green, pros::v5::MotorUnits::degrees)
pros::adi::Pneumatics	LatchControl ('A', false)
pros::adi::Pneumatics	SweeperControl ('B', false)
pros::adi::Pneumatics	IntakeLift ('D', false)
pros::adi::DigitalIn	HookSwitch ('C')
pros::Distance	distance_sensor (6)
pros::Rotation	lateral_sensor (-19)
pros::Rotation	horizontal_sensor (-20)
pros::Rotation	LadyBrownRotation (9)
pros::Rotation	HookRotation (2)
pros::Imu	inertial_sensor (17)
pros::Optical	colorSensor (5)
pros::MotorGroup	drive_left ({LeftFront.get_port(), LeftMid.get_port(), LeftBack.get_port()})
pros::MotorGroup	drive_right ({RightFront.get_port(), RightMid.get_port(), RightBack.get_port()})
pros::MotorGroup	drive_ ({LeftFront.get_port(), RightFront.get_port(), LeftMid.get_port(), RightMid.get_port(), LeftBack.get_port(), RightBack.get_port()})
lemlib::ControllerSettings	lateral_controller (6.4, 0, 35, 3, 0.5, 100, 2, 500, 115)
lemlib::ControllerSettings	angular_controller (3.27, 0, 27.5, 3, 2, 90, 3, 500, 0)
lemlib::ExpoDriveCurve	throttle_curve (1, 35, 1.002)
lemlib::ExpoDriveCurve	steer_curve (1, 16, 1.0084)
lemlib::ExpoDriveCurve	arcade_turn_curve (1, 8, 1.016)
lemlib::Chassis	chassis (drivetrain, lateral_controller, angular_controller, sensors, &throttle_curve, &steer_curve)

Variables
pros::vision_signature_s_t	RED_SIG
pros::vision_signature_s_t	BLUE_SIG
pros::vision_signature_s_t	BLUE_DARK_SIG
lemlib::TrackingWheel horizontal_tracking_wheel &	horizontal_sensor
lemlib::TrackingWheel vertical_tracking_wheel &	lateral_sensor
lemlib::Drivetrain	drivetrain
lemlib::OdomSensors	sensors

Function Documentation

angular_controller()

lemlib::ControllerSettings Robot::Globals::angular_controller	(	3.	27,
		0	,
		27.	5,
		3	,
		2	,
		90	,
		3	,
		500	,
		0	)

Referenced by chassis().

arcade_turn_curve()

lemlib::ExpoDriveCurve Robot::Globals::arcade_turn_curve	(	1	,
		8	,
		1.	016 )

Referenced by Robot::Drivetrain::ArcadeDrive(), and Robot::Drivetrain::CurvatureDrive().

chassis()

lemlib::Chassis Robot::Globals::chassis	(	drivetrain	,
		lateral_controller	,
		angular_controller	,
		sensors	,
		&	throttle_curve,
		&	steer_curve )

References angular_controller(), drivetrain, lateral_controller(), sensors, steer_curve(), and throttle_curve().

Referenced by Robot::Drivetrain::ArcadeDrive(), Robot::Autonomous::BlueNeg(), BlueNegBAK(), Robot::Autonomous::BluePos(), BluePosBAK(), Robot::Autonomous::BluePosLateGoalRush(), Robot::Drivetrain::CurvatureDrive(), initialize(), Robot::Autonomous::RedNeg(), RedNegBAK(), Robot::Autonomous::RedPos(), RedPosBAK(), Robot::Autonomous::RedPosLateGoalRush(), Robot::Autonomous::Skills(), and Robot::Drivetrain::TankDrive().

colorSensor()

pros::Optical Robot::Globals::colorSensor

(

5

)

Referenced by Robot::Autonomous::BlueNeg(), BlueNegBAK(), Robot::Autonomous::RedNeg(), RedNegBAK(), and Robot::Autonomous::Skills().

controller()

pros::Controller Robot::Globals::controller

(

pros::E_CONTROLLER_MASTER

)

Referenced by Robot::Drivetrain::ArcadeDrive(), Robot::Drivetrain::CurvatureDrive(), opcontrol(), Robot::Intake::run(), Robot::LadyBrown::run(), Robot::Latch::run(), Robot::Sweeper::run(), and Robot::Drivetrain::TankDrive().

distance_sensor()

pros::Distance Robot::Globals::distance_sensor

(

6

)

drive_()

pros::MotorGroup Robot::Globals::drive_

(

{LeftFront.get_port(), RightFront.get_port(), LeftMid.get_port(), RightMid.get_port(), LeftBack.get_port(), RightBack.get_port()}

)

References LeftBack(), LeftFront(), LeftMid(), RightBack(), RightFront(), and RightMid().

Referenced by Robot::Autonomous::BlueNeg(), BlueNegBAK(), Robot::Autonomous::BluePos(), BluePosBAK(), Robot::Autonomous::BluePosLateGoalRush(), Robot::Autonomous::RedNeg(), RedNegBAK(), Robot::Autonomous::RedPos(), RedPosBAK(), and Robot::Autonomous::RedPosLateGoalRush().

drive_left()

pros::MotorGroup Robot::Globals::drive_left

(

{LeftFront.get_port(), LeftMid.get_port(), LeftBack.get_port()}

)

References LeftBack(), LeftFront(), and LeftMid().

drive_right()

pros::MotorGroup Robot::Globals::drive_right

(

{RightFront.get_port(), RightMid.get_port(), RightBack.get_port()}

)

References RightBack(), RightFront(), and RightMid().

HookMotor()

pros::Motor Robot::Globals::HookMotor	(	3	,
		pros::v5::MotorGears::green	,
		pros::v5::MotorUnits::degrees	)

Referenced by Robot::Autonomous::BlueNeg(), BlueNegBAK(), Robot::Autonomous::BluePos(), BluePosBAK(), Robot::Autonomous::BluePosLateGoalRush(), initialize(), Robot::Autonomous::RedNeg(), RedNegBAK(), Robot::Autonomous::RedPos(), RedPosBAK(), Robot::Autonomous::RedPosLateGoalRush(), Robot::Intake::run(), and Robot::Autonomous::Skills().

HookRotation()

pros::Rotation Robot::Globals::HookRotation

(

2

)

Referenced by initialize().

HookSwitch()

pros::adi::DigitalIn Robot::Globals::HookSwitch

(

'C'

)

horizontal_sensor()

pros::Rotation Robot::Globals::horizontal_sensor

(

-

20

)

inertial_sensor()

pros::Imu Robot::Globals::inertial_sensor

(

17

)

IntakeLift()

pros::adi::Pneumatics Robot::Globals::IntakeLift	(	'D'	,
		false	)

Referenced by Robot::Autonomous::BlueNeg(), Robot::Autonomous::RedNeg(), RedNegBAK(), and Robot::Intake::run().

IntakeMotor()

pros::Motor Robot::Globals::IntakeMotor	(	-	4,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by Robot::Autonomous::BlueNeg(), BlueNegBAK(), Robot::Autonomous::BluePos(), BluePosBAK(), Robot::Autonomous::BluePosLateGoalRush(), initialize(), Robot::Autonomous::RedNeg(), RedNegBAK(), Robot::Autonomous::RedPos(), RedPosBAK(), Robot::Autonomous::RedPosLateGoalRush(), Robot::Intake::run(), and Robot::Autonomous::Skills().

LadyBrownMotor()

pros::Motor Robot::Globals::LadyBrownMotor	(	-	10,
		pros::v5::MotorGears::green	,
		pros::v5::MotorUnits::degrees	)

Referenced by Robot::LadyBrown::LadyBrown(), initialize(), Robot::LadyBrown::MoveToPoint(), and Robot::LadyBrown::run().

LadyBrownRotation()

pros::Rotation Robot::Globals::LadyBrownRotation

(

9

)

Referenced by Robot::LadyBrown::LadyBrown(), Robot::LadyBrown::MoveToPoint(), and Robot::LadyBrown::run().

LatchControl()

pros::adi::Pneumatics Robot::Globals::LatchControl	(	'A'	,
		false	)

Referenced by Robot::Autonomous::BlueNeg(), BlueNegBAK(), Robot::Autonomous::BluePos(), Robot::Autonomous::RedNeg(), RedNegBAK(), Robot::Autonomous::RedPos(), Robot::Autonomous::Skills(), and Robot::Latch::toggle().

lateral_controller()

lemlib::ControllerSettings Robot::Globals::lateral_controller	(	6.	4,
		0	,
		35	,
		3	,
		0.	5,
		100	,
		2	,
		500	,
		115	)

Referenced by chassis().

lateral_sensor()

pros::Rotation Robot::Globals::lateral_sensor

(

-

19

)

LeftBack()

pros::Motor Robot::Globals::LeftBack	(	-	11,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), drive_left(), and initialize().

LeftFront()

pros::Motor Robot::Globals::LeftFront	(	-	13,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), drive_left(), and initialize().

LeftMid()

pros::Motor Robot::Globals::LeftMid	(	12	,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), drive_left(), and initialize().

partner()

pros::Controller Robot::Globals::partner

(

pros::E_CONTROLLER_PARTNER

)

RightBack()

pros::Motor Robot::Globals::RightBack	(	14	,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), drive_right(), and initialize().

RightFront()

pros::Motor Robot::Globals::RightFront	(	16	,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), drive_right(), and initialize().

RightMid()

pros::Motor Robot::Globals::RightMid	(	-	15,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), drive_right(), and initialize().

steer_curve()

lemlib::ExpoDriveCurve Robot::Globals::steer_curve	(	1	,
		16	,
		1.	0084 )

Referenced by chassis().

SweeperControl()

pros::adi::Pneumatics Robot::Globals::SweeperControl	(	'B'	,
		false	)

Referenced by Robot::Autonomous::BluePos(), BluePosBAK(), Robot::Autonomous::RedPos(), RedPosBAK(), Robot::Sweeper::run(), Robot::Autonomous::Skills(), and Robot::Sweeper::toggle().

throttle_curve()

lemlib::ExpoDriveCurve Robot::Globals::throttle_curve	(	1	,
		35	,
		1.	002 )

Referenced by chassis().

Variable Documentation

BLUE_DARK_SIG

pros::vision_signature_s_t Robot::Globals::BLUE_DARK_SIG

Initial value:

=
    pros::c::vision_signature_from_utility(3, -4793, -4173, -4483, 1069, 2765, 1917, 3, 0)

Definition at line 61 of file globals.cpp.

BLUE_SIG

pros::vision_signature_s_t Robot::Globals::BLUE_SIG

Initial value:

=
    pros::c::vision_signature_from_utility(2, 9187, 12161, 10674, -375, 1327, 476, 2.5, 0)

Definition at line 59 of file globals.cpp.

drivetrain

lemlib::Drivetrain Robot::Globals::drivetrain

Initial value:

{
    &drive_left,  
    &drive_right, 
    10.8,        
    lemlib::Omniwheel::OLD_325,
    450, 
    2    
}

Definition at line 76 of file globals.cpp.

                           {
    &drive_left,  // left drivetrain motors
    &drive_right, // right drivetrain motors
    10.8,        // track width
    lemlib::Omniwheel::OLD_325,
    450, // drivetrain rpm is 450
    2    // horizontal drift is 2
};

Referenced by chassis().

horizontal_sensor

lemlib::TrackingWheel horizontal_tracking_wheel& Robot::Globals::horizontal_sensor

Definition at line 71 of file globals.cpp.

Referenced by initialize().

lateral_sensor

lemlib::TrackingWheel vertical_tracking_wheel& Robot::Globals::lateral_sensor

Definition at line 72 of file globals.cpp.

Referenced by initialize().

RED_SIG

pros::vision_signature_s_t Robot::Globals::RED_SIG

Initial value:

=
    pros::c::vision_signature_from_utility(1, -4653, -3619, -4136, 9831, 11725, 10778, 2.5, 0)

Definition at line 56 of file globals.cpp.

sensors

lemlib::OdomSensors Robot::Globals::sensors

Initial value:

{
    &vertical_tracking_wheel,   
    nullptr,                    
    &horizontal_tracking_wheel, 
    nullptr,                    
    &inertial_sensor            
}

Definition at line 85 of file globals.cpp.

                         {
    &vertical_tracking_wheel,   // vertical tracking wheel 1
    nullptr,                    // vertical tracking wheel 2
    &horizontal_tracking_wheel, // horizontal tracking wheel 1
    nullptr,                    // we don't have a second tracking wheel, so we set it to nullptr
    &inertial_sensor            // inertial sensor
};

Referenced by chassis().